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<div class="title">board.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_BOARD_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_BOARD_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = ReferenceFrame&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">   59</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">BOARDLocalReferenceFrameEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2">   66</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2">BOARDLocalReferenceFrameEstimation</a> () :</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a> (0.0f),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a> (false),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a> (0.85f),</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a> (24),</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a> (0.2f),</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a> (0.1f),</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        check_margin_array_ (),</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        margin_array_min_angle_ (),</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        margin_array_max_angle_ (),</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        margin_array_min_angle_normal_ (),</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        margin_array_max_angle_normal_ ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;BOARDLocalReferenceFrameEstimation&quot;</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af27446a4f4a632b4dc787616d7928dde">   84</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af27446a4f4a632b4dc787616d7928dde">~BOARDLocalReferenceFrameEstimation</a> () {}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="comment">//Getters/Setters</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">setTangentRadius</a> (<span class="keywordtype">float</span> radius)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a> = radius;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">getTangentRadius</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a>);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">  114</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">setFindHoles</a> (<span class="keywordtype">bool</span> find_holes)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a> = find_holes;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">getFindHoles</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">  135</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">setMarginThresh</a> (<span class="keywordtype">float</span> margin_thresh)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a> = margin_thresh;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">getMarginThresh</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a>);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">  155</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (<span class="keywordtype">int</span> size)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a> = size;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        check_margin_array_.clear ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        check_margin_array_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        margin_array_min_angle_.clear ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        margin_array_min_angle_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        margin_array_max_angle_.clear ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        margin_array_max_angle_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        margin_array_min_angle_normal_.clear ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        margin_array_min_angle_normal_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        margin_array_max_angle_normal_.clear ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        margin_array_max_angle_normal_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">  180</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">getCheckMarginArraySize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">  191</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">setHoleSizeProbThresh</a> (<span class="keywordtype">float</span> prob_thresh)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a> = prob_thresh;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">  202</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">getHoleSizeProbThresh</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">setSteepThresh</a> (<span class="keywordtype">float</span> steep_thresh)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a> = steep_thresh;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">  224</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">getSteepThresh</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a>);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> PointCloudIn;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> PointCloudOut;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      resetData ()</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">computePointLRF</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;index, Eigen::Matrix3f &amp;lrf);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab87274eb94ebc08e0c7164e8d34cd955">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (Eigen::Vector3f <span class="keyword">const</span> &amp;axis, Eigen::Vector3f <span class="keyword">const</span> &amp;axis_origin,</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                              Eigen::Vector3f <span class="keyword">const</span> &amp;point, Eigen::Vector3f &amp;directed_ortho_axis);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">getAngleBetweenUnitVectors</a> (Eigen::Vector3f <span class="keyword">const</span> &amp;v1, Eigen::Vector3f <span class="keyword">const</span> &amp;v2, Eigen::Vector3f <span class="keyword">const</span> &amp;axis);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">normalDisambiguation</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <span class="keyword">const</span> &amp;normals_cloud, std::vector&lt;int&gt; <span class="keyword">const</span> &amp;normal_indices,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                            Eigen::Vector3f &amp;normal);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">planeFitting</a> (Eigen::Matrix&lt;float, Eigen::Dynamic, 3&gt; <span class="keyword">const</span> &amp;points, Eigen::Vector3f &amp;center,</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                    Eigen::Vector3f &amp;norm);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">projectPointOnPlane</a> (Eigen::Vector3f <span class="keyword">const</span> &amp;point, Eigen::Vector3f <span class="keyword">const</span> &amp;origin_point,</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                           Eigen::Vector3f <span class="keyword">const</span> &amp;plane_normal, Eigen::Vector3f &amp;projected_point);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">randomOrthogonalAxis</a> (Eigen::Vector3f <span class="keyword">const</span> &amp;axis, Eigen::Vector3f &amp;rand_ortho_axis);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">  333</a></span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">areEquals</a> (<span class="keywordtype">float</span> val1, <span class="keywordtype">float</span> val2, <span class="keywordtype">float</span> zero_float_eps = 1E-8f)<span class="keyword"> const</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keywordflow">return</span> (std::abs (val1 - val2) &lt; zero_float_eps);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">  340</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a>;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">  343</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">  346</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a>; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">  349</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">  352</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a>; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">  355</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a>; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      std::vector&lt;bool&gt; check_margin_array_;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      std::vector&lt;float&gt; margin_array_min_angle_;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      std::vector&lt;float&gt; margin_array_max_angle_;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      std::vector&lt;float&gt; margin_array_min_angle_normal_;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      std::vector&lt;float&gt; margin_array_max_angle_normal_;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  };</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;}</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/board.hpp&gt;</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_BOARD_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a></div><div class="ttdoc">BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for lo...</div><div class="ttdef"><b>Definition:</b> board.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a121b2c872aab8a5ab7708b378369437c"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">pcl::BOARDLocalReferenceFrameEstimation::setSteepThresh</a></div><div class="ttdeci">void setSteepThresh(float steep_thresh)</div><div class="ttdoc">Sets the minimum steepness that the normals of the points situated on the borders of the hole,...</div><div class="ttdef"><b>Definition:</b> board.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a132a85d60b60164853924bafb14e1f3b"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">pcl::BOARDLocalReferenceFrameEstimation::getFindHoles</a></div><div class="ttdeci">bool getFindHoles() const</div><div class="ttdoc">Gets whether holes in the margin of the support, for each point, are searched and accounted for in th...</div><div class="ttdef"><b>Definition:</b> board.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a256c12a56092a55bdeed19ac1a77ec15"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">pcl::BOARDLocalReferenceFrameEstimation::getTangentRadius</a></div><div class="ttdeci">float getTangentRadius() const</div><div class="ttdoc">Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference ...</div><div class="ttdef"><b>Definition:</b> board.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a26951f67a6cc8abb851ba700125084a9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">pcl::BOARDLocalReferenceFrameEstimation::projectPointOnPlane</a></div><div class="ttdeci">void projectPointOnPlane(Eigen::Vector3f const &amp;point, Eigen::Vector3f const &amp;origin_point, Eigen::Vector3f const &amp;plane_normal, Eigen::Vector3f &amp;projected_point)</div><div class="ttdoc">Given a plane (origin and normal) and a point, return the projection of x on plane</div><div class="ttdef"><b>Definition:</b> board.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a372933f17aa96381feed1149b935d337"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">pcl::BOARDLocalReferenceFrameEstimation::directedOrthogonalAxis</a></div><div class="ttdeci">void directedOrthogonalAxis(Eigen::Vector3f const &amp;axis, Eigen::Vector3f const &amp;axis_origin, Eigen::Vector3f const &amp;point, Eigen::Vector3f &amp;directed_ortho_axis)</div><div class="ttdoc">Given an axis (with origin axis_origin), return the orthogonal axis directed to point.</div><div class="ttdef"><b>Definition:</b> board.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a40a126956e22130de00aeb223a522ba8"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">pcl::BOARDLocalReferenceFrameEstimation::setHoleSizeProbThresh</a></div><div class="ttdeci">void setHoleSizeProbThresh(float prob_thresh)</div><div class="ttdoc">Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference...</div><div class="ttdef"><b>Definition:</b> board.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a443d413a50bc03235dfca64d6a0d4563"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">pcl::BOARDLocalReferenceFrameEstimation::computePointLRF</a></div><div class="ttdeci">float computePointLRF(const int &amp;index, Eigen::Matrix3f &amp;lrf)</div><div class="ttdoc">Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with nor...</div><div class="ttdef"><b>Definition:</b> board.hpp:197</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a52b9cf45c34049cfd6990798bffac8f3"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">pcl::BOARDLocalReferenceFrameEstimation::find_holes_</a></div><div class="ttdeci">bool find_holes_</div><div class="ttdoc">If true, check if support is complete or has missing regions because it is too near to mesh borders.</div><div class="ttdef"><b>Definition:</b> board.h:343</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a539340a12ac997e4a6bc4c20764d1ed1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">pcl::BOARDLocalReferenceFrameEstimation::planeFitting</a></div><div class="ttdeci">void planeFitting(Eigen::Matrix&lt; float, Eigen::Dynamic, 3 &gt; const &amp;points, Eigen::Vector3f &amp;center, Eigen::Vector3f &amp;norm)</div><div class="ttdoc">Compute Least Square Plane Fitting in a set of 3D points</div><div class="ttdef"><b>Definition:</b> board.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a697610a41cdc46220a777b1b3d804a79"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">pcl::BOARDLocalReferenceFrameEstimation::setCheckMarginArraySize</a></div><div class="ttdeci">void setCheckMarginArraySize(int size)</div><div class="ttdoc">Sets the number of slices in which is divided the margin for the search of missing regions.</div><div class="ttdef"><b>Definition:</b> board.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a6b84b273b35a2c0e1ce2db35a0c344b5"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">pcl::BOARDLocalReferenceFrameEstimation::setTangentRadius</a></div><div class="ttdeci">void setTangentRadius(float radius)</div><div class="ttdoc">Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference ...</div><div class="ttdef"><b>Definition:</b> board.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a6ffa76944c0cbdb3c38645e4af539d99"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">pcl::BOARDLocalReferenceFrameEstimation::getMarginThresh</a></div><div class="ttdeci">float getMarginThresh() const</div><div class="ttdoc">Gets the percentage of the search radius (or tangent radius if set) after which a point is considered...</div><div class="ttdef"><b>Definition:</b> board.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a760ab86e7331f14c560e4f57c67aee31"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">pcl::BOARDLocalReferenceFrameEstimation::hole_size_prob_thresh_</a></div><div class="ttdeci">float hole_size_prob_thresh_</div><div class="ttdoc">Threshold used to determine a missing region</div><div class="ttdef"><b>Definition:</b> board.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a78e4538355e85c97aac9550bf05b0c4e"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">pcl::BOARDLocalReferenceFrameEstimation::getAngleBetweenUnitVectors</a></div><div class="ttdeci">float getAngleBetweenUnitVectors(Eigen::Vector3f const &amp;v1, Eigen::Vector3f const &amp;v2, Eigen::Vector3f const &amp;axis)</div><div class="ttdoc">return the angle (in radians) that rotate v1 to v2 with respect to axis .</div><div class="ttdef"><b>Definition:</b> board.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a92cb54c700e6df9f2936b3d5cc9806ff"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">pcl::BOARDLocalReferenceFrameEstimation::tangent_radius_</a></div><div class="ttdeci">float tangent_radius_</div><div class="ttdoc">Radius used to find tangent axis.</div><div class="ttdef"><b>Definition:</b> board.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a9ccdf190f8782d158c409adea2763c01"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">pcl::BOARDLocalReferenceFrameEstimation::check_margin_array_size_</a></div><div class="ttdeci">int check_margin_array_size_</div><div class="ttdoc">Number of slices that divide the support in order to determine if a missing region is present.</div><div class="ttdef"><b>Definition:</b> board.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a9fa7273a3e5b10ba7d377cf7f022eef2"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2">pcl::BOARDLocalReferenceFrameEstimation::BOARDLocalReferenceFrameEstimation</a></div><div class="ttdeci">BOARDLocalReferenceFrameEstimation()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> board.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aa3012f8e208e3d3657d15d4b782d818b"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">pcl::BOARDLocalReferenceFrameEstimation::steep_thresh_</a></div><div class="ttdeci">float steep_thresh_</div><div class="ttdoc">Threshold that defines if a missing region contains a point with the most different normal.</div><div class="ttdef"><b>Definition:</b> board.h:355</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aab6328bd9ca767e101193c0133a8313d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">pcl::BOARDLocalReferenceFrameEstimation::normalDisambiguation</a></div><div class="ttdeci">void normalDisambiguation(pcl::PointCloud&lt; PointNT &gt; const &amp;normals_cloud, std::vector&lt; int &gt; const &amp;normal_indices, Eigen::Vector3f &amp;normal)</div><div class="ttdoc">Disambiguates a normal direction using adjacent normals</div><div class="ttdef"><b>Definition:</b> board.hpp:172</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ab133cdddc92c41a0a53accfa4e83ea28"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">pcl::BOARDLocalReferenceFrameEstimation::setMarginThresh</a></div><div class="ttdeci">void setMarginThresh(float margin_thresh)</div><div class="ttdoc">Sets the percentage of the search radius (or tangent radius if set) after which a point is considered...</div><div class="ttdef"><b>Definition:</b> board.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ab7f7236eb7e247383e2b22650cfc2a99"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">pcl::BOARDLocalReferenceFrameEstimation::getSteepThresh</a></div><div class="ttdeci">float getSteepThresh() const</div><div class="ttdoc">Gets the minimum steepness that the normals of the points situated on the borders of the hole,...</div><div class="ttdef"><b>Definition:</b> board.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ab87274eb94ebc08e0c7164e8d34cd955"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab87274eb94ebc08e0c7164e8d34cd955">pcl::BOARDLocalReferenceFrameEstimation::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract feature estimation method.</div><div class="ttdef"><b>Definition:</b> board.hpp:596</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aca61a3043c416fbc512236412121eb59"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">pcl::BOARDLocalReferenceFrameEstimation::margin_thresh_</a></div><div class="ttdeci">float margin_thresh_</div><div class="ttdoc">Threshold that define if a support point is near the margins.</div><div class="ttdef"><b>Definition:</b> board.h:346</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_acca15a07b92d4e6aac69fccafb6f5d7a"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">pcl::BOARDLocalReferenceFrameEstimation::getCheckMarginArraySize</a></div><div class="ttdeci">int getCheckMarginArraySize() const</div><div class="ttdoc">Gets the number of slices in which is divided the margin for the search of missing regions.</div><div class="ttdef"><b>Definition:</b> board.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aecb6595caf21c9109e84f7c5964e04d9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">pcl::BOARDLocalReferenceFrameEstimation::randomOrthogonalAxis</a></div><div class="ttdeci">void randomOrthogonalAxis(Eigen::Vector3f const &amp;axis, Eigen::Vector3f &amp;rand_ortho_axis)</div><div class="ttdoc">Given an axis, return a random orthogonal axis</div><div class="ttdef"><b>Definition:</b> board.hpp:100</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aee8fdbbcd1053a970dd15835cce2d9b1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">pcl::BOARDLocalReferenceFrameEstimation::areEquals</a></div><div class="ttdeci">bool areEquals(float val1, float val2, float zero_float_eps=1E-8f) const</div><div class="ttdoc">Check if val1 and val2 are equals.</div><div class="ttdef"><b>Definition:</b> board.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_af27446a4f4a632b4dc787616d7928dde"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af27446a4f4a632b4dc787616d7928dde">pcl::BOARDLocalReferenceFrameEstimation::~BOARDLocalReferenceFrameEstimation</a></div><div class="ttdeci">virtual ~BOARDLocalReferenceFrameEstimation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> board.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_af455b091134c659ef542b6b68d92302d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">pcl::BOARDLocalReferenceFrameEstimation::getHoleSizeProbThresh</a></div><div class="ttdeci">float getHoleSizeProbThresh() const</div><div class="ttdoc">Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference...</div><div class="ttdef"><b>Definition:</b> board.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aff653a5a1a90a17c50e2f1c0ba9c225d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">pcl::BOARDLocalReferenceFrameEstimation::setFindHoles</a></div><div class="ttdeci">void setFindHoles(bool find_holes)</div><div class="ttdoc">Sets whether holes in the margin of the support, for each point, are searched and accounted for in th...</div><div class="ttdef"><b>Definition:</b> board.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature&lt; PointInT, ReferenceFrame &gt;::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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